#ifndef SUBROUTINES_H
#define	SUBROUTINES_H

#include <cstdlib>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <cv.h>
#include <vector>


using namespace std;

#include "SbotThread.h"
#include "SensorManagement.h"

extern bool autonomy;

class Subroutines {
public:
	SbotThread* sbot;
	LocalizationAndPlaning* loc;

	Ll startpos;
	int setstart;
	int finishcount;
	long found_obstacle;
	int finnumber;
        bool was_obstacle;
	
        Subroutines();

	void testSbot();
        void setup(LocalizationAndPlaning* lc, SbotThread* sb);
        int manageFinish(SensorManagement sm);	
	void manageObstacles(SensorManagement sm);
	

private:

};

#endif	/* SUBROUTINES_H */

